real01b-routing-d1-baseline-uniform-r5-ef20cov30-nocf
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot工具创建，专门针对Franka机器人。数据集包含50个总episodes和19637个总帧，以parquet文件格式存储，并附带视频文件（总大小约300MB）。数据特征包括多种观察状态（如笛卡尔位置、关节位置、夹爪位置、速度等）、动作（如笛卡尔速度、关节速度、夹爪动作）、干预标志、成功标志、奖励、完成标志。此外，数据集还包含来自多个摄像头的图像观察：手腕左、手腕右、侧面1和侧面2，每个视频分辨率为480x640，帧率为15fps，编码为h264。数据集用于训练和评估机器人控制任务，支持机器人学习算法的开发。数据按chunks组织，每个chunk大小为1000帧，并包含元数据如时间戳、帧索引、episode索引等。
This dataset is a robotics dataset created using the LeRobot tool, specifically designed for the Franka robot. It contains 50 total episodes and 19637 total frames, stored in parquet file format with accompanying video files (total size approximately 300MB). The data features include various observation states (such as Cartesian position, joint position, gripper position, velocity), actions (such as Cartesian velocity, joint velocity, gripper action), intervention flags, success flags, rewards, and completion flags. Additionally, the dataset includes image observations from multiple cameras: wrist left, wrist right, side 1, and side 2, each with video resolution of 480x640, frame rate of 15fps, encoded as h264. The dataset is used for training and evaluating robot control tasks, supporting the development of robot learning algorithms. Data is organized in chunks, each with a size of 1000 frames, and includes metadata such as timestamps, frame indices, and episode indices.
数据集概述
- 名称:
ankile/real01b-routing-d1-baseline-uniform-r5-ef20cov30-nocf - 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 数据集类型: 基于 LeRobot 框架创建
数据集结构
- 总帧数: 19,637 帧
- 总周期数: 50 个周期
- 总任务数: 1 个任务
- 帧率 (FPS): 15
- 数据切分: 训练集 (
0:50) - 机器人类型: Franka
特征字段
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
observation.state |
float32 | (7,) | 7维观测状态，包含笛卡尔位置 (x, y, z, roll, pitch, yaw) 和夹爪位置 |
action |
float32 | (7,) | 7维动作，包含笛卡尔速度 (x, y, z, roll, pitch, yaw) 和夹爪动作 |
steps_to_go |
int64 | (1,) | 剩余步数 |
source |
int64 | (1,) | 数据来源ID |
intervention |
int64 | (1,) | 干预标志 |
success |
int64 | (1,) | 成功标志 |
is_valid |
int64 | (1,) | 有效标志 |
reward |
float32 | (1,) | 奖励值 |
done |
int64 | (1,) | 结束标志 |
arm_id |
int64 | (1,) | 机械臂ID |
policy_id |
int64 | (1,) | 策略ID |
manifest_idx |
int64 | (1,) | 清单索引 |
rope_x |
float32 | (1,) | 绳子x坐标 |
clip_left_x/y/yaw/oidx |
float32 | (1,) | 左侧夹子相关参数 |
clip_right_x/y/yaw/oidx |
float32 | (1,) | 右侧夹子相关参数 |
action.cartesian_velocity |
float32 | (6,) | 笛卡尔速度动作 (x, y, z, roll, pitch, yaw) |
action.cartesian_position |
float32 | (6,) | 笛卡尔位置动作 (x, y, z, roll, pitch, yaw) |
action.joint_velocity |
float32 | (7,) | 关节速度动作 (joint_0 到 joint_6) |
action.joint_position |
float32 | (7,) | 关节位置动作 (joint_0 到 joint_6) |
action.gripper_position |
float32 | (1,) | 夹爪位置动作 |
action.gripper_velocity |
float32 | (1,) | 夹爪速度动作 |
observation.state.cartesian_position |
float32 | (6,) | 观测：笛卡尔位置 (x, y, z, roll, pitch, yaw) |
observation.state.joint_position |
float32 | (7,) | 观测：关节位置 (joint_0 到 joint_6) |
observation.state.joint_velocity |
float32 | (7,) | 观测：关节速度 (joint_0 到 joint_6) |
observation.state.cartesian_velocity |
float32 | (6,) | 观测：笛卡尔速度 (x, y, z, roll, pitch, yaw) |
observation.state.gripper_position |
float32 | (1,) | 观测：夹爪位置 |
telemetry.franka.motor_torques_external |
float32 | (7,) | 外部电机扭矩 (joint_0 到 joint_6) |
telemetry.franka.ee_wrench |
float32 | (6,) | 末端执行器力/力矩 (fx, fy, fz, mx, my, mz) |
telemetry.franka.motor_torques_measured |
float32 | (7,) | 测量电机扭矩 (joint_0 到 joint_6) |
telemetry.franka.joint_torques_computed |
float32 | (7,) | 计算关节扭矩 (joint_0 到 joint_6) |
observation.images.wrist_left |
video | (480, 640, 3) | 左侧腕部相机图像 (H.264编码, 15fps) |
observation.images.wrist_right |
video | (480, 640, 3) | 右侧腕部相机图像 (H.264编码, 15fps) |
observation.images.side_1 |
video | (480, 640, 3) | 侧方1号相机图像 (H.264编码, 15fps) |
observation.images.side_2 |
video | (480, 640, 3) | 侧方2号相机图像 (H.264编码, 15fps) |
timestamp |
float32 | (1,) | 时间戳 |
frame_index |
int64 | (1,) | 帧索引 |
episode_index |
int64 | (1,) | 周期索引 |
index |
int64 | (1,) | 索引 |
task_index |
int64 | (1,) | 任务索引 |
数据与视频存储
- 数据路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet(Parquet格式，约100MB) - 视频路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4(MP4格式，约200MB) - 数据块大小: 1000 帧/块
